{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,29]],"date-time":"2026-05-29T20:56:45Z","timestamp":1780088205947,"version":"3.54.0"},"reference-count":54,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2024,1,10]],"date-time":"2024-01-10T00:00:00Z","timestamp":1704844800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100000780","name":"European Commission","doi-asserted-by":"publisher","award":["824250"],"award-info":[{"award-number":["824250"]}],"id":[{"id":"10.13039\/501100000780","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper presents a novel unscented Kalman filter (UKF) implementation with adaptive covariance matrices (ACMs), to accurately estimate the longitudinal and lateral components of vehicle velocity, and thus the sideslip angle, tire slip angles, and tire slip ratios, also in extreme driving conditions, including tyre\u2013road friction variations. The adaptation strategies are implemented on both the process noise and measurement noise covariances. The resulting UKF ACM is compared against a well-tuned baseline UKF with fixed covariances. Experimental test results in high tyre\u2013road friction conditions show the good performance of both filters, with only a very marginal benefit of the ACM version. However, the simulated extreme tests in variable and low-friction conditions highlight the superior performance and robustness provided by the adaptation mechanism.<\/jats:p>","DOI":"10.3390\/s24020436","type":"journal-article","created":{"date-parts":[[2024,1,11]],"date-time":"2024-01-11T03:21:41Z","timestamp":1704943301000},"page":"436","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":22,"title":["An Adaptive Unscented Kalman Filter for the Estimation of the Vehicle Velocity Components, Slip Angles, and Slip Ratios in Extreme Driving Manoeuvres"],"prefix":"10.3390","volume":"24","author":[{"given":"Aymen","family":"Alshawi","sequence":"first","affiliation":[{"name":"Centre for Automotive Engineering, University of Surrey, Guildford GU2 7XH, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Stefano","family":"De Pinto","sequence":"additional","affiliation":[{"name":"McLaren Automotive, Woking GU21 4YH, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Pietro","family":"Stano","sequence":"additional","affiliation":[{"name":"Centre for Automotive Engineering, University of Surrey, Guildford GU2 7XH, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sebastiaan","family":"van Aalst","sequence":"additional","affiliation":[{"name":"Tenneco Automotive, 3800 Sint-Truiden, Belgium"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kylian","family":"Praet","sequence":"additional","affiliation":[{"name":"Tenneco Automotive, 3800 Sint-Truiden, Belgium"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Emilie","family":"Boulay","sequence":"additional","affiliation":[{"name":"Tenneco Automotive, 3800 Sint-Truiden, Belgium"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Davide","family":"Ivone","sequence":"additional","affiliation":[{"name":"Independent Researcher, 21100 Varese, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1030-6655","authenticated-orcid":false,"given":"Patrick","family":"Gruber","sequence":"additional","affiliation":[{"name":"Centre for Automotive Engineering, University of Surrey, Guildford GU2 7XH, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Aldo","family":"Sorniotti","sequence":"additional","affiliation":[{"name":"Centre for Automotive Engineering, University of Surrey, Guildford GU2 7XH, UK"},{"name":"Departement of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Turin, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2024,1,10]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"172","DOI":"10.1016\/j.arcontrol.2021.01.005","article-title":"Integrated chassis control: Classification, analysis and future trends","volume":"51","author":"Mazzilli","year":"2021","journal-title":"Annu. 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